source: ntrip/trunk/BNC/src/bncutils.h@ 7149

Last change on this file since 7149 was 7053, checked in by stuerze, 10 years ago

CRC24 calculation as well as some definitions required for ephemeris encoding were shifted to have them also somewhere else available

File size: 8.3 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25#ifndef BNCUTILS_H
26#define BNCUTILS_H
27
28#include <vector>
29
30#include <QString>
31#include <QDateTime>
32
33#include <newmat.h>
34#include <bncconst.h>
35#include <ephemeris.h>
36
37void expandEnvVar(QString& str);
38
39/**
40 * Return GPS leap seconds for a given UTC time
41 * @param year 4 digit year
42 * @param month month in year (1-12)
43 * @param day day in month (1-31)
44 * @return number of leap seconds since 6.1.1980
45 */
46int gnumleap(int year, int month, int day);
47
48/**
49 * Convert Moscow time into GPS or UTC. Note that parts of a second are not preserved
50 * and must be handled separately.
51 * @param week GPS week number (must be prefilled, contains fixed value afterwards)
52 * @param secOfWeek seconds in GPS week (must be prefilled, contains fixed value afterwards)
53 * @param mSecOfWeek milli seconds in GLONASS time
54 * @param fixnumleap when <code>true</code> then result is UTC time, otherwise it is GPS
55 * @return does not return a value, but updates first two arguments
56 */
57void updatetime(int *week, int *secOfWeek, int mSecOfWeek, bool fixnumleap);
58
59QDateTime dateAndTimeFromGPSweek(int GPSWeek, double GPSWeeks);
60
61void currentGPSWeeks(int& week, double& sec);
62
63QDateTime currentDateAndTimeGPS();
64
65QByteArray ggaString(const QByteArray& latitude, const QByteArray& longitude,
66 const QByteArray& height, const QString& ggaType);
67
68void RSW_to_XYZ(const ColumnVector& rr, const ColumnVector& vv,
69 const ColumnVector& rsw, ColumnVector& xyz);
70
71void XYZ_to_RSW(const ColumnVector& rr, const ColumnVector& vv,
72 const ColumnVector& xyz, ColumnVector& rsw);
73
74t_irc xyz2ell(const double* XYZ, double* Ell);
75
76void xyz2neu(const double* Ell, const double* xyz, double* neu);
77
78void neu2xyz(const double* Ell, const double* neu, double* xyz);
79
80void jacobiXYZ_NEU(const double* Ell, Matrix& jacobi);
81
82void jacobiEll_XYZ(const double* Ell, Matrix& jacobi);
83
84void covariXYZ_NEU(const SymmetricMatrix& Qxyz, const double* Ell,
85 SymmetricMatrix& Qneu);
86
87void covariNEU_XYZ(const SymmetricMatrix& Qneu, const double* Ell,
88 SymmetricMatrix& Qxyz);
89
90double Frac(double x);
91
92double Modulo(double x, double y);
93
94double nint(double val);
95
96ColumnVector rungeKutta4(double xi, const ColumnVector& yi, double dx, double* acc,
97 ColumnVector (*der)(double x, const ColumnVector& y, double* acc));
98
99void GPSweekFromDateAndTime(const QDateTime& dateTime, int& GPSWeek, double& GPSWeeks);
100
101void GPSweekFromYMDhms(int year, int month, int day, int hour, int min, double sec,
102 int& GPSWeek, double& GPSWeeks);
103
104void mjdFromDateAndTime(const QDateTime& dateTime, int& mjd, double& dayfrac);
105
106bool findInVector(const std::vector<QString>& vv, const QString& str);
107
108int readInt(const QString& str, int pos, int len, int& value);
109
110int readDbl(const QString& str, int pos, int len, double& value);
111
112void topos(double xRec, double yRec, double zRec, double xSat, double ySat, double zSat,
113 double& rho, double& eleSat, double& azSat);
114
115void deg2DMS(double decDeg, int& deg, int& min, double& sec);
116
117QString fortranFormat(double value, int width, int prec);
118
119void kalman(const Matrix& AA, const ColumnVector& ll, const DiagonalMatrix& PP,
120 SymmetricMatrix& QQ, ColumnVector& xx);
121
122double djul(long j1, long m1, double tt);
123
124double gpjd(double second, int nweek) ;
125
126void jdgp(double tjul, double & second, long & nweek);
127
128void jmt (double djul, long& jj, long& mm, double& dd);
129
130void stripWhiteSpace(std::string& str);
131
132double accuracyFromIndex(int index, t_eph::e_type type);
133
134int indexFromAccuracy(double accuracy, t_eph::e_type type);
135
136
137// CRC24Q checksum calculation function (only full bytes supported).
138///////////////////////////////////////////////////////////////////
139unsigned long CRC24(long size, const unsigned char *buf);
140
141// RTCM3 GPS EPH encoding
142//////////////////////////////////////////////////////////
143#define GPSTOINT(type, value) static_cast<type>(round(value))
144
145#define GPSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
146 |(GPSTOINT(long long,b)&((1ULL<<a)-1)); \
147 numbits += (a); \
148 while(numbits >= 8) { \
149 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
150
151#define GPSADDBITSFLOAT(a,b,c) {long long i = GPSTOINT(long long,(b)/(c)); \
152 GPSADDBITS(a,i)};
153
154// RTCM3 GLONASS EPH encoding
155//////////////////////////////////////////////////////////
156#define GLONASSTOINT(type, value) static_cast<type>(round(value))
157#define GLONASSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
158 |(GLONASSTOINT(long long,b)&((1ULL<<(a))-1)); \
159 numbits += (a); \
160 while(numbits >= 8) { \
161 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
162#define GLONASSADDBITSFLOATM(a,b,c) {int s; long long i; \
163 if(b < 0.0) \
164 { \
165 s = 1; \
166 i = GLONASSTOINT(long long,(-b)/(c)); \
167 if(!i) s = 0; \
168 } \
169 else \
170 { \
171 s = 0; \
172 i = GLONASSTOINT(long long,(b)/(c)); \
173 } \
174 GLONASSADDBITS(1,s) \
175 GLONASSADDBITS(a-1,i)}
176
177// RTCM3 Galileo EPH encoding
178//////////////////////////////////////////////////////////
179#define GALILEOTOINT(type, value) static_cast<type>(round(value))
180#define GALILEOADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
181 |(GALILEOTOINT(long long,b)&((1LL<<a)-1)); \
182 numbits += (a); \
183 while(numbits >= 8) { \
184 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
185#define GALILEOADDBITSFLOAT(a,b,c) {long long i = GALILEOTOINT(long long,(b)/(c)); \
186 GALILEOADDBITS(a,i)};
187
188// RTCM3 SBAS EPH encoding
189//////////////////////////////////////////////////////////
190#define SBASTOINT(type, value) static_cast<type>(round(value))
191#define SBASADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
192 |(SBASTOINT(long long,b)&((1ULL<<a)-1)); \
193 numbits += (a); \
194 while(numbits >= 8) { \
195 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
196#define SBASADDBITSFLOAT(a,b,c) {long long i = SBASTOINT(long long,(b)/(c)); \
197 SBASADDBITS(a,i)};
198
199// RTCM3 BDS EPH encoding
200//////////////////////////////////////////////////////////
201#define BDSTOINT(type, value) static_cast<type>(round(value))
202#define BDSADDBITS(a, b) {bitbuffer = (bitbuffer<<(a)) \
203 |(BDSTOINT(long long,b)&((1ULL<<a)-1)); \
204 numbits += (a); \
205 while(numbits >= 8) { \
206 buffer[size++] = bitbuffer>>(numbits-8);numbits -= 8;}}
207#define BDSADDBITSFLOAT(a,b,c) {long long i = BDSTOINT(long long,(b)/(c)); \
208 BDSADDBITS(a,i)};
209
210#endif
Note: See TracBrowser for help on using the repository browser.